Manual PD4-C (USB)9 Operating modesVersion: 1.4.1 / 22.07.2016 / FIR-v1626 61NoteFor the mode 35 it is not necessary to switch the DS402 Power state machine up to the status"Operation Enabled", the status "Switched on" is sufficient.9.6 Clock/direction mode9.6.1 DescriptionThis mode is equivalent to the velocity mode but uses pules of two input pins as target.The analogue mode is only controlled by the "enable"-input: as long as the "enable"-input is not set tological "high" level the motor won’t start driving.NoteThe limit switches - and therefore the tolerance bands - are active in this mode. See chapter"Tolerance bands of the limit switches" for further information about the limit switches.9.6.2 ActivationThe activation is not done via the object dictionary but a DIP-switch. For the settings of the switchessee chapter "" "DIP switches".9.6.3 GeneralThe following data apply to all sub modes of the clock/direction mode:• The maximum frequency of the input pulses are limited at 1MHz, the ON-part is not allowed to getshorter than 200 ns.tmin. 1μs(max. 1MHz)min.200nsclockinput• The scaling of the steps is done via the objects 2057h and 2058h. The following formula is applied:step width per pulse = 2057h2058hBy default the value for "step width per pulse" is "512", which is equal a full step per pulse. A halfstep is the value "256", a quarter step accordingly "128" and so on.NoteDuring a change of direction it is necessary to let the time of 35μs lapse away before applying anew clock.9.6.4 Status wordThe following bits in object 6041h (status word) have a special function:
